CN110394528B

CN110394528B - Welding seam tracking device for U-rib internal elevation welding system

Info

Publication number: CN110394528B
Application number: CN201910721154.2A
Authority: CN
Inventors: 冯鹏程; 陈金州; 余顺新; 夏飞; 段宝山; 吴大健; 高兴; 舒先庆; 陈积里
Original assignee: Wuhan Lixin Automation Technology Co ltd; CCCC Second Highway Survey and Design Institute Co Ltd
Current assignee: Wuhan Lixin Automation Technology Co ltd; CCCC Second Highway Survey and Design Institute Co Ltd
Priority date: 2019-08-06
Filing date: 2019-08-06
Publication date: 2021-06-22
Anticipated expiration: 2039-08-06
Also published as: CN110394528A

Abstract

The invention relates to the technical field of bridge maintenance, and discloses a welding seam tracking device for a U-rib internal elevation welding system, which is used for tracking the position change of an inner angle welding seam between a U rib and a panel, wherein the welding seam tracking device and a welding gun are arranged on a base, the welding seam tracking device comprises a swinging rod and a sensor, one end of the swinging rod is abutted against the inner angle welding seam to be welded, and the other end of the swinging rod is abutted against the sensor for detecting the displacement change of the abutted end of the swinging rod and the inner angle welding seam. The welding seam tracking device for the U-rib internal elevation welding system is simple in structure and sensitive in response, and meets the requirement of an internal angle supplement welding elevation welding seam tracking operation space of the existing narrow space size of the U rib of the bridge.

Description

Welding seam tracking device for U-rib internal elevation welding system

Technical Field

The invention relates to the technical field of bridge maintenance, in particular to a welding seam tracking device for an upward welding system in a U-shaped rib.

Background

The steel structure bridge has a history of more than 200 years, and the development of the steel structure bridge is closely related to material technology, manufacturing technology and structural design. In terms of structural design, the early stage adopted steel truss or steel plate girder forms. Beginning in the middle of the 20 th century, with the level of orthotropic thin steel box girder structure design becoming mature and the improvement of welding technology, the steel box girder structure has become the main structural form of the steel bridge deck slab due to the characteristics of low height, light dead weight, high rigidity, high ultimate bearing capacity, easiness in processing and manufacturing, good structural continuity and the like.

The orthotropic bridge deck is mainly composed of a steel structure deck and a transverse beam and a longitudinal beam which are welded with the steel structure deck, wherein the transverse beam is mainly a transverse clapboard, and the longitudinal beam is mainly of a U-rib structure. The U-shaped rib can provide larger torsional rigidity and bending rigidity, and can improve the stress state of the whole bridge deck, so that the U-shaped rib is the most common cross section form of the modern orthotropic bridge deck.

However, in the constructed steel structure bridge, because the U rib is positioned below the top plate, the connection between the U rib and the face plate is welded on the outer side and the single side before the U rib inner welding technology is developed, so that a large number of cracks are generated at the connection between the face plate and the U rib after the constructed bridge for the general vehicle runs for a period of time. In order to change the current situation, increase the fatigue resistance of the steel bridge with the orthotropic plate structure and prolong the service life of the steel bridge, repair welding is needed to be carried out on the welding seam between the panel and the U rib. Considering that the constructed bridge cannot be disassembled to a factory for maintenance and reinforcement due to the problems of structure and safety, the inner welding seam is additionally arranged on the connecting inner side of the U rib and the top plate in the constructed bridge.

In the process of implementing inside weld side seam supplement, the welding gun needs to be adjusted according to the change of the welding condition, so that the condition of the welding seam needs to be known in real time, and based on the condition, a set of seam tracking system is urgently needed to be configured for the U-rib inside elevation welding system, so that the welding quality meeting or higher than the design requirement is realized.

Disclosure of Invention

The invention aims to provide a welding seam tracking device for a U-rib internal elevation welding system, which is suitable for a narrow space.

In order to achieve the purpose, the welding seam tracking device for the U-rib internal elevation welding system is used for tracking the position change of an inner angle welding seam between a U rib and a panel, the welding seam tracking device and a welding gun are installed on a base, the welding seam tracking device comprises a swinging rod and a sensor, one end of the swinging rod is abutted against the inner angle welding seam to be welded, and the other end of the swinging rod is abutted against the sensor for detecting the displacement change of the abutted end of the swinging rod and the inner angle welding seam.

Preferably, a universal joint connected with a base for mounting the sensor is arranged in the middle of the swinging rod.

Preferably, the base is provided with a plurality of secondary swinging members around the other end of the swinging rod, one side of each secondary swinging member is in contact with the swinging rod, and the other side of each secondary swinging member is in contact with the corresponding sensor sensing point.

Preferably, the secondary oscillating member is rotatably mounted on the base through a pin shaft, and a surface of the secondary oscillating member, which is in contact with the end of the oscillating rod, and a surface of the secondary oscillating member, which is in contact with the sensor sensing point, are perpendicular to each other.

Preferably, four secondary oscillating members and four sensors respectively corresponding to the secondary oscillating members are uniformly arranged in the base around the axial direction of the oscillating rod, and the four secondary oscillating members are uniformly distributed in the circumferential direction of the oscillating rod to respectively transmit and detect displacement changes of the end of the oscillating rod from four directions.

Preferably, a hemispherical contact head is fixedly arranged at one end of the swinging rod, which is abutted against the inner corner welding seam.

Preferably, one end of the swinging rod, which is abutted to the inner corner welding seam, is provided with a roller.

Preferably, the weld joint tracking device is mounted on a travelling mechanism which moves along the length direction of the U rib, and the sensor is connected to the welding gun control device through a signal wire so as to output a weld joint position signal.

The invention has the beneficial effects that: the welding seam tracking device for the U-rib internal elevation welding system is simple in structure and sensitive in response, and meets the requirement of an internal angle supplement welding elevation welding seam tracking operation space of the existing narrow space size of the U rib of the bridge.

Drawings

Fig. 1 is a front view of a welding system employing a weld tracking device for a U-rib internal pitch welding system in accordance with a preferred embodiment of the present invention.

FIG. 2 is a front view of the welding system of FIG. 1 with the U-ribs and face plates removed.

Fig. 3 is a side view of the welding system of fig. 1.

Fig. 4 is a front view of a weld tracking apparatus according to a preferred embodiment of the present invention.

Fig. 5 is a perspective view of the weld seam tracking apparatus of fig. 4.

Fig. 6 is a cross-sectional view of the weld tracking device of fig. 4.

The components in the figures are numbered as follows: the welding gun comprises a welding gun 10, a welding seam tracking device 20 (a contact head 21, a swinging rod 22, a universal joint 23, a base 24, a secondary swinging piece 25 and a sensor 26), a welding gun posture adjusting device 30, a video monitoring assembly 40, a walking mechanism 50 and a welding gun control device 60.

Detailed Description

The invention is described in further detail below with reference to the figures and the specific embodiments.

Aiming at the existing bridge and solving the difficult problems of narrow and closed space, invisibility and remote welding seam posture adjustment in the U rib internal elevation welding process on the site of the built bridge, the U rib internal elevation welding system is provided, and the reliable and stable U rib elevation welding system is provided, so that the welding quality higher than the design requirement is achieved in the internal welding seam supplement process.

Referring to fig. 1 and 2, a schematic structural diagram of a U-rib internal elevation welding system according to a preferred embodiment of the present invention is shown. The U-rib internal elevation welding system of the preferred embodiment of the invention is used for performing repair welding on a welding seam between a U-rib and a panel from the inside of the U-rib, and comprises a welding gun 10, a welding seam tracking device 20, a welding gun posture adjusting device 30, a video monitoring assembly 40, a walking mechanism 50 and a welding gun control device 60. The welding torch 10 is fixedly mounted on the torch attitude adjusting device 30. A weld tracking device 20 is provided in front of the welding gun 10 to monitor the position of the weld between the U-rib and the panel. The welding gun posture adjusting device 30 is provided on the traveling mechanism 50 for adjusting the angle, height, and lateral position of the welding gun 10 perpendicular to the U-rib length direction. The welding seam tracking device 20, the welding gun posture adjusting device 30 and the video monitoring assembly 40 are installed on a travelling mechanism 50, and the travelling mechanism 50 moves in the U rib along the length direction of the U rib under the driving of power. The video monitoring module 40 takes the welding gun 10 as a shooting object and is connected with the welding gun control device 60 through a signal line, and the video monitoring module 40 sends shot video data to the welding gun control device 60 and receives a shooting angle adjusting signal from the welding gun control device 60. The welding gun control device 60 is connected to the welding seam tracking device 20 and the welding gun posture adjusting device 30 through signal lines, and the welding gun control device 60 receives the welding seam position signal from the welding seam tracking device 20 and sends a welding gun position adjusting signal to the welding gun posture adjusting device 30 according to the received welding seam position signal.

Referring to fig. 3, in the welding mechanism of the welding gun 10 for supplementing the inner welding seam to the U-rib and the panel, the welding gun 10 may be arranged on one side (one welding gun 10 is used on both sides for welding respectively) or arranged on both sides (different welding guns 10 are used on both sides for welding both welding seams simultaneously).

Referring to fig. 4, 5 and 6, the seam tracking apparatus 20 is fixed to the same base (traveling mechanism 50) as the welding gun 10. The welding seam tracking device 20 comprises a contact 21, a swing rod 22, a universal joint 23, a base 24 and a two-axis displacement detection device 24, wherein the contact 21 is fixed at one end of the swing rod 22, and the middle part of the swing rod 22 is connected with the base 24 through the universal joint 23. The base 24 is provided with a secondary swing member 25 and a sensor 26, and the secondary swing member 25 is swung by the other end of the swing lever 22 to activate the sensor 26.

A contact head 21 is provided at the front end of the seam tracking system 20 for contacting the edge of the seam at the contact angle of the U-rib with the panel.

A contact head 21 is fixedly connected to one end of the swing lever 22, and the swing lever 22 swings around a universal joint 23 together with the contact head 21, and contacts a secondary swing member 25 in a base 24 at the other end of the swing lever 22.

The universal joint 23 is located in the middle of the swing lever 22, and the swing lever 22 can be rotated relative to the base 24 by using the universal joint 23 as a pivot point of rotation, so as to match the transverse and longitudinal movement of the contact 21 at one end of the swing lever 22 and transmit the displacement to the other end of the swing lever 22 in the base 24.

Base 24 is the mounting base for weld tracking system 20, and base 24 is mounted to running gear 50.

The secondary swing member 25 is installed inside the base 24 through a pin, and after the displacement of the contact 21 at one end of the swing lever 22 is transmitted to the other end inside the base 24, the secondary swing member 25 is triggered at the other end of the swing lever 22 to rotate around the pin, so that the secondary swing member 25 activates the contact of the sensor 26 corresponding thereto. In the illustrated embodiment, 4 secondary oscillating elements 25 are arranged around the end of the oscillating rod 22, one sensor 26 being arranged next to each secondary oscillating element 25. The 4 secondary oscillating members 25 are uniformly distributed in the circumferential direction of the oscillating lever 22 for detecting the displacement change of the oscillating lever 22 from two mutually perpendicular axial directions. In the illustrated embodiment, the secondary oscillating member 25 has an L-shape, and a surface (oscillating lever trigger surface) in contact with the end of the oscillating lever 22 and a surface (sensor sensing surface) in contact with the sensing point of the sensor 26 are perpendicular to each other.

The sensor 26 is used to directly detect the corresponding secondary oscillating member 25, and the displacement of the secondary oscillating member 25 is converted into an electrical signal by the sensor 26, and then the electrical signal is transmitted to the welding gun control device 60 through a signal line. The sensor 26 may sense using both displacement and pressure.

The welding seam tracking device 20 moves to the welding seam of the contact angle between the U rib and the panel before welding (the welding seam tracking device 20 is fixed on the traveling mechanism 50 and is positioned at the same straight line position with the welding gun 10, namely the position of the contact head 21 of the welding seam tracking device 20 sensing the welding seam in front of the welding gun 10), the welding seam tracking device transmits the welding seam to the swinging rod 22 through the displacement of the contact head 21, the swinging rod 22 generates angle deflection and converts the angle deflection into the displacement of another space position through the universal joint 23, so that the secondary swinging piece 25(L block) transmitted into the base 24 pushes the probe of the sensor 26 to stretch, the sensor 26 converts the generated displacement change signal into an electric signal, and then the signal is transmitted to the welding gun control device 60 through. The welding gun controller 60 calculates and converts a control signal to the welding gun posture adjustment device 30 of the welding gun 10, and drives the welding gun posture adjustment device 30 to adjust three positions of the welding gun, such as transverse movement, height, and angle, so that the welding gun 10 is aligned with the fillet weld to weld. In the whole welding process, the welding seam tracking device 20 is always in a working state, a displacement signal is fed back to the welding gun control device 60, and the welding gun control device 60 performs calculation to control the welding gun posture adjusting device 30 to adjust the position, so that the welding gun 10 is opposite to the fillet weld in the whole welding process.

The video monitoring assembly 40 is mounted on the traveling mechanism 50 and takes the welding gun 10 as a subject. The video monitoring assembly 40 collects the attitude information of the welding gun 10 during the welding process in real time.

The traveling mechanism 50 realizes the front and rear position adjustment of the welding gun 10 in the welding direction, and the traveling mechanism 50 is executed by a trolley in the embodiment shown in the figure, so that the welding speed of the welding gun 10 is ensured to be consistent with the traveling speed of the trolley.

The welding gun control device 60 is connected to the welding seam tracking device 20 (sensor 26), the welding gun posture adjusting device 30 (angle adjusting drive motor, height adjusting drive motor and traverse drive motor) and the video monitoring assembly 40 through signal lines, receives the welding seam position information transmitted by the welding seam tracking device 20 in real time, analyzes whether the welding gun posture is consistent with the current welding environment, and adjusts according to the parameters of the welding gun posture to be matched if the welding gun posture is not consistent with the current welding environment.

The working mode of the welding seam tracking device for the U-rib internal elevation welding system is as follows:

in preparation for welding, the positions of the welding torch 10 and the bead tracking device 20 are adjusted, the welding torch 10 is tilted upward to be aligned with a bead to be welded between the U-rib and the panel, and the ball contact 21 of the bead tracking device 20 is brought into contact with the bead in the U-rib.

After the welding starts, the traveling mechanism 50 starts moving in the longitudinal direction of the U-rib. When the position of the inner welding seam to be welded of the U-shaped rib is deviated, the contact head 21 against the U-shaped rib is correspondingly displaced and transmitted to the secondary swinging piece 25 through the swinging rod 22. The swing rod 22 is connected with the base 24 through the universal joint 23, and 4 secondary swing pieces 25 arranged in the base 24 are uniformly distributed on the periphery of one end of the swing rod 22 far away from the contact 21 and used for decomposing displacement changes of the contact 21 in four circumferential directions, namely up, down, left and right. Any adjacent 2 secondary oscillating members 25 are connected to the displacement/pressure sensor 26 (3 or 4 of the displacement/pressure sensors 26 are also connected), convert the displacement change of the contact head 21 resolved in two adjacent circumferential directions into an electric signal, and transmit the electric signal to the welding gun control device 60. The welding gun control device 60 judges the position change of the welding seam of the U rib through calculation according to the received electric signals, and adjusts the welding gun 10 by the same displacement, so that the welding gun is always aligned to the inner welding seam to be welded of the U rib, and the automatic tracking of the inner welding seam of the U rib of the bridge is further realized.

The welding seam tracking device for the U-rib internal overhead welding system has the advantages of simple structure, small size, sensitive response, strong anti-interference performance, high response speed and timely tracking, meets the requirement of supplementing welding overhead welding seam tracking operation space to the internal angle of the existing U-rib narrow space size (less than 200mm), utilizes the spherical contact head to track and capture the position of the welding seam in real time, ensures the relative positions of the gun head and the welding seam of the welding gun to be constant, realizes automatic tracking of the internal angle welding seam of the U-rib of the existing bridge, improves the welding production efficiency and ensures the welding quality.

The above-described embodiments of the present invention only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a U rib is inside faces upward a welding seam tracking means for welding system for change the position of interior angle weld between U rib and the panel carries out the seam tracking, its characterized in that: the welding seam tracking device (20) and the welding gun (10) are installed on the base, the welding seam tracking device (20) comprises a swinging rod (22) and a sensor (26), one end of the swinging rod (22) is abutted to an inner angle welding seam to be welded, and the other end of the swinging rod (22) is contacted with the sensor (26) for detecting displacement change of the abutted end of the swinging rod (22) and the inner angle welding seam; the middle part of the swinging rod (22) is provided with a universal joint (23) connected with a base (24) for mounting the sensor (26); the base (24) is provided with a plurality of secondary swinging pieces (25) around the other end of the swinging rod (22), one side of each secondary swinging piece (25) is in contact with the swinging rod (22), and the other side of each secondary swinging piece (25) is in contact with the corresponding sensing point of the sensor (26); the secondary swinging piece (25) is rotatably arranged on the base (24) through a pin shaft, and a surface of the secondary swinging piece (25) contacted with the tail end of the swinging rod (22) is vertical to a surface contacted with a sensing point of the sensor (26).

2. The weld tracking device for the U-rib interior overhead welding system according to claim 1, wherein: the four secondary swinging pieces (25) and the four sensors corresponding to the secondary swinging pieces (25) are uniformly arranged in the base (24) around the axial direction of the swinging rod (22), and the four secondary swinging pieces are uniformly distributed on the circumference of the swinging rod (22) so as to transmit and detect displacement changes of the end part of the swinging rod (22) from four directions.

3. The weld tracking device for the U-rib interior overhead welding system according to claim 1, wherein: and a hemispherical contact head (21) is arranged at one end of the oscillating rod (22) which is abutted against the inner corner welding seam.

4. The weld tracking device for the U-rib interior overhead welding system according to claim 1, wherein: and a roller is arranged at one end of the swinging rod (22) which is abutted to the inner corner welding seam.

5. A weld tracking device for a U-rib internal overhead welding system according to any one of claims 1 to 4, wherein: the welding seam tracking device (20) is installed on a travelling mechanism (50) moving along the length direction of the U rib, and the sensor (26) is connected to a welding gun control device (60) through a signal line to output a welding seam position signal.